Research in surgical robotics has an established track record at Imperial College, and a number of research and commercial surgical robot platforms have been developed over the years. The Hamlyn Centre is a champion for technological innovation and clinical adoption of robotic, minimally invasive surgery. We work in partnership with major industrial leaders in medical devices and surgical robots, as well as developing our own platforms such as the i-Snake® and Micro-IGES platforms. The Da Vinci surgical robot is used extensively for endoscopic radical prostatectomy, hiatal hernia surgery, and low pelvic and rectal surgery, and in 2003, St Mary’s Hospital carried out its first Totally Endoscopic Robotic Coronary Artery Bypass (TECAB).

The major focus of the Hamlyn Centre is to develop robotic technologies that will transform conventional minimally invasive surgery, explore new ways of empowering robots with human intelligence, and develop[ing miniature 'microbots' with integrated sensing and imaging for targeted therapy and treatment. We work closely with both industrial and academic partners in open platforms such as the DVRK, RAVEN and KUKA. The Centre also has the important mission of driving down costs associated with robotic surgery in order to make the technology more accessible, portable, and affordable. This will allow it to be fully integrated with normal surgical workflows so as to benefit a much wider patient population.

The Hamlyn Centre currently chairs the UK Robotics and Autonomous Systems (UK-RAS) Network. The mission of the Network is to to provide academic leadership in Robotics and Autonomous Systems (RAS), expand collaboration with industry and integrate and coordinate activities across the UK Engineering and Physical Sciences Research Council (EPSRC) funded RAS capital facilities and Centres for Doctoral Training (CDTs).


Citation

BibTex format

@article{Zhang:2017:10.1109/ICRA.2017.7989412,
author = {Zhang, L and Ye, M and Giataganas, P and Hughes, M and Yang, GZ},
doi = {10.1109/ICRA.2017.7989412},
journal = {Proceedings - IEEE International Conference on Robotics and Automation},
pages = {3587--3593},
title = {Autonomous scanning for endomicroscopic mosaicing and 3D fusion},
url = {http://dx.doi.org/10.1109/ICRA.2017.7989412},
year = {2017}
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - Robot-assisted minimally invasive surgery can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex, undulating tissue surface to enhance the effective field-of-view through video mosaicing. In this paper, the da Vinci® surgical robot, through the dVRK framework, is used for autonomous scanning and 2D mosaicing over a user-defined region of interest. To achieve the level of precision required for high quality mosaic generation, which relies on sufficient overlap between consecutive image frames, visual servoing is performed using a combination of a tracking marker attached to the probe and the endomicroscopy images themselves. The resulting sub-millimetre accuracy of the probe motion allows for the generation of large mosaics with minimal intervention from the surgeon. Images are streamed from the endomicroscope and overlaid live onto the surgeons view, while 2D mosaics are generated in real-time, and fused into a 3D stereo reconstruction of the surgical scene, thus providing intuitive visualisation and fusion of the multi-scale images. The system therefore offers significant potential to enhance surgical procedures, by providing the operator with cellular-scale information over a larger area than could typically be achieved by manual scanning.
AU - Zhang,L
AU - Ye,M
AU - Giataganas,P
AU - Hughes,M
AU - Yang,GZ
DO - 10.1109/ICRA.2017.7989412
EP - 3593
PY - 2017///
SN - 1050-4729
SP - 3587
TI - Autonomous scanning for endomicroscopic mosaicing and 3D fusion
T2 - Proceedings - IEEE International Conference on Robotics and Automation
UR - http://dx.doi.org/10.1109/ICRA.2017.7989412
UR - http://hdl.handle.net/10044/1/51621
ER -